Optical tracing device and method of using the same

Abstract

The present invention relates to the technical field of surgical instruments, and provides an optical tracking device and a method for using the same. The optical tracking device includes a fixed support structure, at least three first reflective balls, a movable support structure, and at least one second reflective ball. The position of the second reflective ball changes as the movable support structure moves. An optical capture device is used to collect the positions of the first reflective ball and the second reflective ball, and the position and posture of each reflective ball in the coordinate system of the optical capture device are determined. At the same time, the position and posture of the second reflective ball relative to the first reflective ball are calculated, and the position and posture of the second reflective ball relative to the first reflective ball are changed by toggling the movable support structure. In this way, the different positions of the second reflective ball before and after the toggling are used to identify instructions, and then the corresponding electrical signal is input to the terminal. In addition to having its own positioning function, the optical tracking device also has the function of inputting instructions to the terminal, which simplifies its control during surgery.

Description

Technical Field

[0001] The present invention relates to the technical field of surgical instruments, and in particular to an optical tracking device and a method for using the optical tracking device. Background Art

[0002] The optical tracer is one of the core components of the optical navigation system, which is usually fixed on the object to be tracked to indicate the space of the object. It plays a vital role in computational navigation-assisted surgery.

[0003] Generally, a traditional optical tracer realizes spatial positioning by cooperating with a reflective ball and an optical capture device. However, the traditional optical tracer has a single function in use, which brings inconvenience to the operator during the operation. Summary of the invention

[0004] The purpose of the present invention is to provide an optical tracer device, aiming to solve the problem of poor user experience caused by the single function of the existing optical tracer.

[0005] To achieve the above object, the technical solution adopted by the present invention is:

[0006] In a first aspect, an optical tracking device includes a fixed support structure, at least three first reflective balls installed on the support structure and for collection by an optical capture device, a movable support structure movably connected to the support structure, and at least one second reflective ball installed on the movable support structure, wherein the second reflective ball is coplanar with each of the first reflective balls, and the position of the second reflective ball changes as the movable support structure moves.

[0007] Beneficial effects of the present invention: The optical tracking device provided by the present invention fixes the fixed bracket structure in a suitable position, uses the optical capture device to collect the positions of the first reflective balls and the second reflective balls, and determines the posture of each reflective ball in the coordinate system of the optical capture device, and calculates the posture of the second reflective ball relative to the first light-emitting ball, and changes the posture of the second reflective ball relative to the first reflective ball by toggling the movable bracket structure. In this way, the different postures of the second reflective ball before and after the toggling are used to identify instructions, and then the corresponding electrical signals are input to the terminal. In this way, in addition to its own positioning function, the optical tracking device also has the function of inputting instructions to the terminal, thereby simplifying the operator's control problems during the operation and providing a better user experience.

[0008] In one embodiment, the movable support structure is hinged to the fixed support structure, and the second reflective ball is installed at one end of the movable support structure away from the fixed support structure.

[0009] In one embodiment, the movable support structure is a rod body, the rod body is hinged to the fixed support structure, and the second reflective ball is installed on the rod body.

[0010] In one embodiment, the middle portion of the rod body is hinged to the fixed support structure, or one end of the rod body is hinged to the fixed support structure.

[0011] In one embodiment, the movable support structure is an annular member, the middle part of the annular member is hinged to the fixed support structure, and the second reflective ball is installed on the annular member; or, the fixed support structure includes an annular limiting portion with a hollow structure, the movable support structure is a circular member, and the circular member is movably limited within the hollow structure of the annular limiting portion.

[0012] In one embodiment, the center point of the annular member is hinged to the fixed support structure, or the annular member is eccentrically hinged to the fixed support structure.

[0013] In one embodiment, the movable support structure is slidably connected to the fixed support structure, and / or the second reflective ball is slidably connected to the movable support structure.

[0014] In one embodiment, the optical tracking device includes a reset member, one end of which is connected to the fixed support structure and the other end of which is connected to the movable support structure.

[0015] In one embodiment, a handle structure is provided on the movable support structure.

[0016] In a second aspect, the present application provides a method for using an optical tracking device, the steps of the method are as follows:

[0017] Fixing the fixed support structure of the optical tracking device, capturing the positions of the first reflective balls and the second reflective balls using an optical capture device, determining the positions of the first reflective balls and the second reflective balls in the coordinate system of the optical capture device, and calculating and obtaining the initial positions of the second reflective balls relative to the first reflective balls;

[0018] The position of the second reflective ball is changed by moving the movable support structure, that is, the current position of the second reflective ball is obtained. At the same time, the difference between the initial position and the current position of the second reflective ball is used to input a corresponding electrical signal to the terminal.

[0019] Beneficial effects of the present invention: The method for using the optical tracking device provided by the present invention comprises the following steps: fixing the fixed bracket structure of the optical tracking device, capturing the position of each first reflective ball by using an optical capture device to determine the plane where each first reflective ball is located, and positioning the fixed bracket structure. At the same time, the optical capture device also collects the initial posture of the second reflective ball; the posture of the second reflective ball is changed by moving the movable bracket structure, that is, the current posture of the second reflective ball is collected by the optical capture device, and the relevant electrical signal instructions input to the terminal are set according to the difference between the two postures. That is, when the current posture of the second reflective ball is the same or similar to the posture in the previous movement cycle in the next movement cycle, the corresponding electrical signal instructions are input to the terminal. In this way, the operator is replaced by inputting the terminal input instructions through a keyboard or the like, thereby simplifying the input process. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 A schematic diagram of the structure of an optical tracking device provided in one embodiment of the present invention;

[0022] Figure 2 A front view of an optical tracking device provided by an embodiment of the present invention;

[0023] Figure 3 A schematic diagram of the structure of an optical tracking device provided in one embodiment of the present invention;

[0024] Figure 4 A front view of an optical tracking device provided in another embodiment of the present invention;

[0025] Figure 5 A schematic structural diagram of an optical tracking device provided in another embodiment of the present invention;

[0026] Figure 6 A schematic structural diagram of an optical tracking device provided in yet another embodiment of the present invention;

[0027] Figure 7 A flow chart of a method for using an optical tracking device provided in an embodiment of the present invention.

[0028] Among them, the reference numerals in the figure are:

[0029] Optical tracing device 100, fixed bracket structure 10, annular limiting part 10a, first reflective sphere 20, movable bracket structure 30, second reflective sphere 40, reset member 50, handle structure 60. Specific embodiments

[0030] The embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

[0031] In the description of the present invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

[0032] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, "a plurality" means two or more unless otherwise specifically defined.

[0033] In the present invention, unless otherwise clearly defined and limited, the terms "mounted", "connected", "connected", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] Please refer to Figure 1The optical tracking device 100 provided in the present application includes a fixed support structure 10, at least three first reflective balls 20 installed on the fixed support structure 10 and for collection by an optical capture device, a movable support structure 30 movably connected to the support structure, and at least one second reflective ball 40 installed on the movable support structure 30, and the position of the second reflective ball 40 changes with the movement of the movable support structure. It can be understood that at least three first reflective balls 20 are used to determine the plane in which they are located to determine the position coordinate information of the optical tracking device 100, and the optical capture device can also obtain the initial posture of the second reflective ball 20. When the movable support structure 30 moves relative to the fixed support structure 10, the optical capture device continues to collect the current posture of the second reflective ball 40, and by comparing the initial posture information and the current posture information of the second reflective ball 40, the preset related electrical signal instructions input to the terminal are set according to the difference between the two postures. That is, when the current posture of the second reflective ball 40 in the next moving cycle is the same or similar to the posture in the previous moving cycle, the corresponding electrical signal instructions are input to the terminal. In this way, the operator is replaced by inputting the terminal input instructions through a keyboard or the like, thereby simplifying the input process. These instructions can be preset in advance, for example, the posture information of the second reflective ball 40 or the posture information close to it with a deviation coefficient can be preset to input the corresponding instruction type to the terminal, or the second reflective ball 40 can be preset to enter the corresponding area and the corresponding number of times to edit the corresponding instruction type. For example, when the second reflective ball 40 moves in a plane, the instructions input to the terminal can be start, confirm, cancel, switch to the next, switch mode, mark the current position, rotate the view, and infinitely adjust the volume, brightness, transparency, transparency, sensitivity, etc. Here, the optical capture device is a camera or other device,

[0035] The optical tracking device provided by the present invention fixes the fixed support structure 10 in a suitable position, uses an optical capture device to collect the positions of the first reflective balls 20 and the second reflective balls 40, and determines the posture of each reflective ball in the coordinate system of the optical capture device, and calculates the posture of the second reflective ball 40 relative to the first light-emitting ball 20, and changes the posture of the second reflective ball 40 relative to the first reflective ball 20 by toggling the movable support structure 30. In this way, the different postures of the second reflective ball 40 before and after being toggled are used to identify instructions, and then the corresponding electrical signals are input to the terminal. In this way, in addition to its own positioning function, the optical tracking device also has the function of inputting instructions to the terminal, thereby simplifying the operator's control problems during the operation and providing a better user experience.

[0036] Please refer to Figure 1In one embodiment, the fixed bracket structure 10 is a Y-shaped bracket, and each first reflective ball 20 is installed on the Y-shaped bracket. In this way, each first reflective ball 20 is in the same plane. In this way, the position of the optical tracking device is also determined according to the posture information of each first reflective ball 20. Of course, in addition to the Y-shape, the fixed bracket structure 10 can also have other shapes, such as U-shape, U-shape, etc.

[0037] Please refer to Figure 1 In one embodiment, the movable support structure 30 is hinged to the fixed support structure 10, and the second reflective ball 40 is installed at one end of the movable support structure 30 away from the fixed support structure 10. It can be understood that the movable support structure 30 is hinged and rotated relative to the fixed support structure 10, so that the position and posture of the second reflective ball 40 installed on the movable support structure 30 changes. At the same time, since the second reflective ball 40 is installed on the movable support structure 30, when the operator moves it, the motion trajectory of the second reflective ball 40 in the current plane is fixed, that is, its position and posture change is fixed. For example, when the movable support structure 30 rotates relative to the fixed support structure 10 around the hinge point, the motion trajectory of the second reflective ball 40 is an arc trajectory with the length of the movable support structure 30 as the radius. In this way, the motion trajectory of the second reflective ball 40 in the plane area is an arc trajectory, which can be collected by the optical capture device when the second reflective ball 40 rotates to the corresponding position, and the corresponding instruction is input to the terminal.

[0038] Specifically, please refer to Figures 1 to 3 In one embodiment, the movable support structure 30 is a rod body, which is hinged to the fixed support structure 10, and the second reflective ball 40 is installed on the rod body. Here, the rod body rotates relative to the fixed support structure 10 around the hinge point, so that the second reflective ball 40 obtains an arc trajectory with the length of the rod body as the radius in the plane. In this way, the position of the second reflective ball 40 in the plane is changed by turning, pushing and pressing the rod body, thereby the corresponding input instruction is activated. The input instruction of the above action can be "start", "confirm", "cancel" and so on. Preferably, the second reflective ball 40 is slidably connected to the rod body, that is, in addition to the arc motion trajectory moving with the rod body, it can also move linearly along the rod body. In this way, after turning, pushing and pressing the rod body, the second reflective ball 40 can also be moved along the length direction of the rod body based on this action. In this way, the input instruction of the above action can be "switch to the next one", "switch mode", "mark current position" and so on. Of course, the shape of the rod body is not limited here. The rod body can be a straight rod body, a curved rod body, etc., or the rod body itself can be an irregular shape, etc.

[0039] In one embodiment, the number of the second reflecting spheres 40 is two or more. That is, when the movable support structure member 30 is toggled to move relative to the fixed support member, each second reflecting sphere 40 has a corresponding trajectory. Then, the optical capture device uses the position changes of the second reflecting spheres 40 to input corresponding instructions to the terminal. For example, as Figure 3 shown, two rod bodies are hinged to the fixed support structure member 10, and a second reflecting sphere 40 is provided on each of the two rod bodies. In this way, the operator can obtain the poses of the corresponding second reflecting spheres 40 by toggling the two rod bodies simultaneously, that is, the pose combinations of the two second reflecting spheres 40 are used to input corresponding electrical signal instructions to the terminal. Of course, more than two rod bodies can also be provided on the fixed support structure member 10, and one or more second reflecting spheres 40 are provided on the corresponding rod bodies, and corresponding electrical signal instructions are input to the terminal through multiple pose combinations.

[0040] Specifically, in one embodiment, the middle of the rod body is hinged to the fixed support structure member 10, or one end of the rod body is hinged to the fixed support structure member 10. It can be understood that the hinged position of the rod body on the fixed support structure member 10 can be changed according to actual needs.

[0041] Please refer to Figure 4 , in one embodiment, the movable support structure member 30 is an annular member, the middle of the annular member is hinged to the fixed support structure member 10, and the second reflecting sphere 40 is installed on the annular member. Similarly, when the annular member rotates around the fixed support structure member 10, the second reflecting sphere 40 also has a corresponding motion trajectory in the plane. Here, the annular member can be a closed annular structure or a non-closed annular structure.

[0042] Specifically, in one embodiment, the center point of the annular member is hinged to the fixed support structure member 10, or the annular member is eccentrically hinged to the fixed support structure member 10. It can be understood that when the annular member rotates around the hinge point relative to the fixed support structure member 10, it can perform concentric rotation or eccentric rotation. In this way, the second reflecting sphere 40 can move along different motion trajectories. Similarly, the second reflecting sphere 40 is slidably connected to the annular member, that is, in addition to the circular motion trajectory following the annular member, it can also perform a secondary movement relative to the annular member. That is, after the optical capture device collects the two motion trajectories of the second reflecting sphere 40, corresponding instructions are input to the terminal.

[0043] Or, in another embodiment, please refer to Figure 5The fixed support structure 10 includes an annular limiting portion 10a with a hollow structure, and the movable support member 30 is a circular member, and the circular member is movable and limited in the hollow structure of the annular limiting portion. It can be understood that the hollow structure of the annular limiting portion can accommodate the circular member, and limit the circular member to make corresponding circular motion in the plane, that is, the motion trajectory is fixed. Similarly, when the operator drives the circular member to make a circular motion in the annular limiting portion, the optical capture device can also capture the corresponding posture information.

[0044] In one embodiment, please refer to Figure 6 , the movable support structure 30 is slidably connected to the fixed support structure 10, and\or, the second reflective ball 40 is slidably connected to the movable support structure 30. It can be understood that in this embodiment, the movable support structure changes its connection mode with the fixed support structure 10, that is, the movable support structure 30 slides along the extension direction of the fixed support structure 10, or slides in a direction perpendicular to the fixed support structure 10, thereby driving the second reflective ball 40 to slide on the corresponding motion trajectory, so that the corresponding command can also be input to the terminal. For example, by pushing, toggling, and other actions along the extension direction of the fixed support structure 10, the input of the corresponding command is obtained, such as rotating the view (such as pressing the reflective ball and moving the tracer to rotate the three-dimensional model space accordingly, and the tracer can be reset after releasing it without the three-dimensional model following the reset), stepless adjustment of volume-brightness-transparency-transparency-sensitivity (such as pushing the reflective ball to move a distance and stop there to make it correspond to a change, and another example is pushing the reflective ball to move a distance and press and then reset it to make it correspond to the change amount of the position). At the same time, on this basis, the second reflective ball 40 can also slide along the extension direction of the movable support structure 30, thereby further changing the position of the second reflective ball 40 in the plane. This series of input instructions is realized by moving the movable support structure 30 and the second reflective ball 40.

[0045] Please refer to Figure 1 and Figure 6 In one embodiment, the optical tracking device 100 includes a reset member 50, one end of which is connected to the fixed support structure 10 and the other end is connected to the movable support structure 30. Here, the reset member 50 can be a structure such as a spring that can be deformed and can be restored to an initial state. The reset member 50 is used to ensure that the movable support structure 30 can return to the initial position, that is, return to the initial coordinate point position in the plane after relative movement relative to the fixed structure, so as to facilitate the collection of the optical capture device.

[0046] Please refer to Figure 2, in one embodiment, a handle structure 60 is provided on the movable bracket structure 30. Understandably, the handle structure 60 facilitates the operator to hold it, increasing the contact area between the movable bracket structure 30 and the operator's hand and the holding stability. Here, the shape of the handle structure 60 is not limited.

[0047] In a second aspect, please refer to Figure 7 , the present application provides a method for using an optical tracing device 100. The steps of the method are as follows:

[0048] S01. Fix the fixed bracket structure of the optical tracing device, use the optical capture device to capture the positions of each first reflective sphere and the second reflective sphere, determine the poses of each first reflective sphere and the second reflective sphere in the coordinate system of the optical capture device, and calculate and obtain the initial pose of the second reflective sphere relative to the first reflective sphere;

[0049] Here, a coplanar plane is determined by at least three first reflective spheres, and then the optical capture device grids this plane into a coordinate plane. Then, the positioning function is realized through the poses of each first reflective sphere. At the same time, the optical capture device collects the pose of the second reflective sphere, and this pose is the initial pose, serving as the coordinate zero point for the subsequent change in the position of the second reflective sphere.

[0050] S02. Change the pose of the second reflective sphere by toggling the movable bracket structure, that is, obtain the current pose of the second reflective sphere. At the same time, utilize the difference between the initial pose and the current pose of the second reflective sphere, and then input a corresponding electrical signal to the terminal.

[0051] Here, the second reflective ball is driven to move by a movable bracket structure and a fixed motion trajectory is obtained, and the optical capture device is able to obtain the fixed motion trajectory, that is, when the second reflective ball is in the corresponding trajectory area, or when the activity frequency of the second reflective ball in the corresponding trajectory area is different, the optical capture device obtains the current posture of the second reflective ball, and sets the preset related electrical signal instructions input to the terminal according to the difference between the two postures. That is, when in the next movement cycle, the current posture of the second reflective ball is the same or similar to the posture in the previous movement cycle, the corresponding electrical signal instructions are input to the terminal. In this way, the operator is replaced by inputting the corresponding terminal input instructions through a keyboard or the like, thereby simplifying the input process. For example: the specific operation modes of the movable bracket structure include single-click to toggle, press, push, etc., double-click (multi-click) to toggle, press, push, etc., long press to toggle, press, push, etc., and it can also move in the plane first and then move in the vertical plane to achieve the purpose of stepless adjustment; the transmitted commands include start, confirm, cancel, switch to the next one, switch mode, mark the current position, rotate the view (such as pressing the reflective ball and moving the tracer to make the three-dimensional model rotate accordingly in the space, and the tracer can be reset after releasing it without the three-dimensional model following the reset), stepless adjustment of volume-brightness-transparency-transparency-sensitivity (such as pushing the reflective ball to move a distance and stop there to make it correspond to a change, and pushing the reflective ball to move a distance and press and then reset it to make it correspond to the change in the position); multiple switch reflective balls can also be combined to move to achieve more commands; it can replace some functions on traditional pedals; the same action can correspond to different commands at different stages.

[0052] The method for using the optical tracking device provided by the present invention comprises the following steps: fixing a fixed support structure of the optical tracking device, capturing the position of each first reflective ball by using an optical capture device to determine the plane where each first reflective ball is located, and positioning the fixed support structure. At the same time, the optical capture device also collects the initial posture of the second reflective ball; changing the posture of the second reflective ball by toggling the movable support structure, that is, collecting the current posture of the second reflective ball by the optical capture device, and setting the relevant electrical signal instructions preset to be input to the terminal according to the difference between the two postures before and after, that is, when the current posture of the second reflective ball is the same as or similar to the posture of the previous movement cycle in the next movement cycle, the corresponding electrical signal instructions are input to the terminal, so as to replace the operator inputting the terminal input instructions through the keyboard and the like, thereby simplifying the input process.

[0053] The above are only preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An optical tracing device for use with an optical capture device, characterized in that: It comprises a fixed support structure, at least three first reflective balls mounted on the support structure and for collection by an optical capture device, a movable support structure movably connected to the support structure, and at least one second reflective ball mounted on the movable support structure, wherein the position of the second reflective ball changes as the movable support structure moves; At least three of the first reflective balls are used to determine the plane in which they are located, so as to determine the position coordinate information of the optical tracking device, and the optical capture device can also obtain the initial posture of the second reflective ball. When the movable support structure moves relative to the fixed support structure, the optical capture device continues to collect the current posture of the second reflective ball, and by comparing the initial posture information and the current posture information of the second reflective ball, the relevant electrical signal instructions to be input to the terminal are set according to the difference between the two postures, that is, when in the next moving cycle, the current posture of the second reflective ball is the same as or similar to the posture in the previous moving cycle, the corresponding electrical signal instructions are input to the terminal.

2. The optical tracer device according to claim 1, wherein: The movable support structure is hinged to the fixed support structure, and the second reflective ball is installed at one end of the movable support structure away from the fixed support structure.

3. The optical tracing device according to claim 2, characterized in that: The movable support structure is a rod body, the rod body is hinged to the fixed support structure, and the second reflective ball is installed on the rod body.

4. The optical tracing device according to claim 3, characterized in that: The middle part of the rod body is hinged to the fixed support structure, or one end of the rod body is hinged to the fixed support structure.

5. The optical tracer device according to claim 2, wherein: The movable support structure is an annular member, the middle part of which is hinged to the fixed support structure, and the second reflective ball is installed on the annular member; or, the fixed support structure includes an annular limiting portion with a hollow structure, the movable support structure is a circular member, and the circular member is movably limited within the hollow structure of the annular limiting portion.

6. The optical tracing device according to claim 5, characterized in that: The center point of the annular member is hinged to the fixed support structure, or the annular member is eccentrically hinged to the fixed support structure.

7. The optical tracing device according to claim 1, wherein: The movable support structure is slidably connected to the fixed support structure, and / or the second reflective ball is slidably connected to the movable support structure.

8. The optical tracing device according to any one of claims 1 to 7, characterized in that: The optical tracking device comprises a reset member, one end of which is connected to the fixed support structure and the other end of which is connected to the movable support structure.

9. The optical tracer device according to any one of claims 1 to 7, characterized in that: The movable bracket structure is provided with a handle structure.

10. A method for using an optical tracing device according to any one of claims 1 to 9, characterized in that, The steps of the method of use are as follows: Fixing the fixed support structure of the optical tracking device, capturing the positions of the first reflective balls and the second reflective balls using an optical capture device, determining the positions of the first reflective balls and the second reflective balls in the coordinate system of the optical capture device, and calculating and obtaining the initial positions of the second reflective balls relative to the first reflective balls; The position of the second reflective ball is changed by moving the movable support structure, that is, the current position of the second reflective ball is obtained. At the same time, the difference between the initial position and the current position of the second reflective ball is used to input a corresponding electrical signal to the terminal.

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